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authorRobert Adams2012-11-20 20:38:51 -0800
committerRobert Adams2012-11-21 16:43:29 -0800
commit2dc7e9d3fa091418814af90565244a8c1972feec (patch)
tree456e46ac6c584638b4989ed8e331dff3cf5a8ab1 /OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
parentBulletSim: enablement and debugging of mesh terrain. (diff)
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BulletSim: fix line endings to be all Linux style (windows style keeps creeping in)
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs340
1 files changed, 170 insertions, 170 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
index e9fd0cb..8fc36d1 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
@@ -1,170 +1,170 @@
1/* 1/*
2 * Copyright (c) Contributors, http://opensimulator.org/ 2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders. 3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 * 4 *
5 * Redistribution and use in source and binary forms, with or without 5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met: 6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright 7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer. 8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD 9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the 10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution. 11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the 12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products 13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission. 14 * derived from this software without specific prior written permission.
15 * 15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY 16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY 19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */ 26 */
27using System; 27using System;
28using System.Collections.Generic; 28using System.Collections.Generic;
29using System.Text; 29using System.Text;
30 30
31using OpenSim.Framework; 31using OpenSim.Framework;
32using OpenSim.Region.Framework; 32using OpenSim.Region.Framework;
33using OpenSim.Region.CoreModules; 33using OpenSim.Region.CoreModules;
34using OpenSim.Region.Physics.Manager; 34using OpenSim.Region.Physics.Manager;
35 35
36using Nini.Config; 36using Nini.Config;
37using log4net; 37using log4net;
38 38
39using OpenMetaverse; 39using OpenMetaverse;
40 40
41namespace OpenSim.Region.Physics.BulletSPlugin 41namespace OpenSim.Region.Physics.BulletSPlugin
42{ 42{
43public sealed class BSTerrainHeightmap : BSTerrainPhys 43public sealed class BSTerrainHeightmap : BSTerrainPhys
44{ 44{
45 static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]"; 45 static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]";
46 46
47 BulletHeightMapInfo m_mapInfo = null; 47 BulletHeightMapInfo m_mapInfo = null;
48 48
49 // Constructor to build a default, flat heightmap terrain. 49 // Constructor to build a default, flat heightmap terrain.
50 public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) 50 public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
51 : base(physicsScene, regionBase, id) 51 : base(physicsScene, regionBase, id)
52 { 52 {
53 Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE); 53 Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE);
54 Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION); 54 Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION);
55 int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y; 55 int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
56 float[] initialMap = new float[totalHeights]; 56 float[] initialMap = new float[totalHeights];
57 for (int ii = 0; ii < totalHeights; ii++) 57 for (int ii = 0; ii < totalHeights; ii++)
58 { 58 {
59 initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION; 59 initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
60 } 60 }
61 m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); 61 m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
62 m_mapInfo.minCoords = minTerrainCoords; 62 m_mapInfo.minCoords = minTerrainCoords;
63 m_mapInfo.maxCoords = maxTerrainCoords; 63 m_mapInfo.maxCoords = maxTerrainCoords;
64 m_mapInfo.terrainRegionBase = TerrainBase; 64 m_mapInfo.terrainRegionBase = TerrainBase;
65 // Don't have to free any previous since we just got here. 65 // Don't have to free any previous since we just got here.
66 BuildHeightmapTerrain(); 66 BuildHeightmapTerrain();
67 } 67 }
68 68
69 // This minCoords and maxCoords passed in give the size of the terrain (min and max Z 69 // This minCoords and maxCoords passed in give the size of the terrain (min and max Z
70 // are the high and low points of the heightmap). 70 // are the high and low points of the heightmap).
71 public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, 71 public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
72 Vector3 minCoords, Vector3 maxCoords) 72 Vector3 minCoords, Vector3 maxCoords)
73 : base(physicsScene, regionBase, id) 73 : base(physicsScene, regionBase, id)
74 { 74 {
75 m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); 75 m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
76 m_mapInfo.minCoords = minCoords; 76 m_mapInfo.minCoords = minCoords;
77 m_mapInfo.maxCoords = maxCoords; 77 m_mapInfo.maxCoords = maxCoords;
78 m_mapInfo.minZ = minCoords.Z; 78 m_mapInfo.minZ = minCoords.Z;
79 m_mapInfo.maxZ = maxCoords.Z; 79 m_mapInfo.maxZ = maxCoords.Z;
80 m_mapInfo.terrainRegionBase = TerrainBase; 80 m_mapInfo.terrainRegionBase = TerrainBase;
81 81
82 // Don't have to free any previous since we just got here. 82 // Don't have to free any previous since we just got here.
83 BuildHeightmapTerrain(); 83 BuildHeightmapTerrain();
84 } 84 }
85 85
86 public override void Dispose() 86 public override void Dispose()
87 { 87 {
88 ReleaseHeightMapTerrain(); 88 ReleaseHeightMapTerrain();
89 } 89 }
90 90
91 // Using the information in m_mapInfo, create the physical representation of the heightmap. 91 // Using the information in m_mapInfo, create the physical representation of the heightmap.
92 private void BuildHeightmapTerrain() 92 private void BuildHeightmapTerrain()
93 { 93 {
94 m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID, 94 m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
95 m_mapInfo.minCoords, m_mapInfo.maxCoords, 95 m_mapInfo.minCoords, m_mapInfo.maxCoords,
96 m_mapInfo.heightMap, BSTerrainManager.TERRAIN_COLLISION_MARGIN); 96 m_mapInfo.heightMap, BSTerrainManager.TERRAIN_COLLISION_MARGIN);
97 97
98 // Create the terrain shape from the mapInfo 98 // Create the terrain shape from the mapInfo
99 m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr), 99 m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr),
100 PhysicsShapeType.SHAPE_TERRAIN); 100 PhysicsShapeType.SHAPE_TERRAIN);
101 101
102 // The terrain object initial position is at the center of the object 102 // The terrain object initial position is at the center of the object
103 Vector3 centerPos; 103 Vector3 centerPos;
104 centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f); 104 centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f);
105 centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f); 105 centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f);
106 centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f); 106 centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f);
107 107
108 m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID, 108 m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID,
109 BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr, 109 BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr,
110 m_mapInfo.ID, centerPos, Quaternion.Identity)); 110 m_mapInfo.ID, centerPos, Quaternion.Identity));
111 111
112 // Set current terrain attributes 112 // Set current terrain attributes
113 BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction); 113 BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction);
114 BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); 114 BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
115 BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); 115 BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
116 BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); 116 BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
117 117
118 // Return the new terrain to the world of physical objects 118 // Return the new terrain to the world of physical objects
119 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); 119 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
120 120
121 // redo its bounding box now that it is in the world 121 // redo its bounding box now that it is in the world
122 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); 122 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
123 123
124 BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr, 124 BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr,
125 (uint)CollisionFilterGroups.TerrainFilter, 125 (uint)CollisionFilterGroups.TerrainFilter,
126 (uint)CollisionFilterGroups.TerrainMask); 126 (uint)CollisionFilterGroups.TerrainMask);
127 127
128 // Make it so the terrain will not move or be considered for movement. 128 // Make it so the terrain will not move or be considered for movement.
129 BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); 129 BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
130 130
131 return; 131 return;
132 } 132 }
133 133
134 // If there is information in m_mapInfo pointing to physical structures, release same. 134 // If there is information in m_mapInfo pointing to physical structures, release same.
135 private void ReleaseHeightMapTerrain() 135 private void ReleaseHeightMapTerrain()
136 { 136 {
137 if (m_mapInfo != null) 137 if (m_mapInfo != null)
138 { 138 {
139 if (m_mapInfo.terrainBody.ptr != IntPtr.Zero) 139 if (m_mapInfo.terrainBody.ptr != IntPtr.Zero)
140 { 140 {
141 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); 141 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
142 // Frees both the body and the shape. 142 // Frees both the body and the shape.
143 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); 143 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
144 BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr); 144 BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr);
145 } 145 }
146 } 146 }
147 m_mapInfo = null; 147 m_mapInfo = null;
148 } 148 }
149 149
150 // The passed position is relative to the base of the region. 150 // The passed position is relative to the base of the region.
151 public override float GetHeightAtXYZ(Vector3 pos) 151 public override float GetHeightAtXYZ(Vector3 pos)
152 { 152 {
153 float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; 153 float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
154 154
155 int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X; 155 int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X;
156 try 156 try
157 { 157 {
158 ret = m_mapInfo.heightMap[mapIndex]; 158 ret = m_mapInfo.heightMap[mapIndex];
159 } 159 }
160 catch 160 catch
161 { 161 {
162 // Sometimes they give us wonky values of X and Y. Give a warning and return something. 162 // Sometimes they give us wonky values of X and Y. Give a warning and return something.
163 PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", 163 PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
164 LogHeader, m_mapInfo.terrainRegionBase, pos); 164 LogHeader, m_mapInfo.terrainRegionBase, pos);
165 ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; 165 ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
166 } 166 }
167 return ret; 167 return ret;
168 } 168 }
169} 169}
170} 170}